JP2013518651A - Obstacle transit device for electric wheelchair - Google Patents

Abstract

A chassis (2) connected to n (n ≧ 3) wheels (3a, 3b, 3c) on each lateral surface, and drive means (5) suitable for rotating the wheels (3a, 3b, 3c); An obstacle transit device for motorized vehicles. This device has one mechanical device on each side surface of the chassis (2), and the mechanical device has n-1 arms (7a, 7b) connected two by two around a common rotation axis. And n wheels (3a, 3b, 3c) are distributed on the connecting arm, each having one front wheel (3a), n-2 middle wheels (3b), and one rear wheel (3c), wherein the mechanical device enables each wheel to rotate with respect to the axis of each adjacent wheel.

Description

  The present invention relates to an obstacle transit device for a vehicle with a motor.

  By motorized vehicle is meant any vehicle of the type that is intended to travel alone, such as a robot or wheelchair.

  As an example that will serve as a guide for this specification, a motorized vehicle will more specifically relate to a wheelchair.

  This obstacle transit device responds to various current problems related to the movement of people with limited movements (disabled persons and elderly persons) who use wheelchairs indoors and outdoors in daily life.

  In today's society, taking into account people with disabilities is a top priority in urban planning, housing adaptability, road and public or private transportation.

  Accessibility is a condition for social, educational and professional assimilation. Mobility and mobility guarantee daily and long-term quality of life.

  In order for freedom of movement to become a reality, the entire movement process must meet the specific requirements of each individual.

  The first component of this movement process is the undisputed wheelchair, which provides technical assistance for mobility and allows people to be carried comfortably on a flat ground surface.

  Because the city plan takes several years to implement, wheelchairs must adapt to the current state of the city, roads, residences, etc.

  However, for example, there are many sidewalks on roads, shops usually have steps, and houses sometimes have different rooms and room heights. The wheelchair must be able to overcome these obstacles.

  Many solutions have been proposed for this purpose. One of them is a wheelchair with six-wheel technology. The wheelchair has excellent maneuverability and stability, but overcoming obstacles with a low height (less than 7.5cm) and with the option of climbing the sidewalk, which provides a lever effect for lifting the front wheels Limited to cases only.

  There is another four wheel drive type wheelchair that allows you to run on any type of surface (grass, gravel, pebbles) and get over obstacles up to 15cm. The main disadvantage of these wheelchairs is, on the one hand, the large size of the wheelchair that prevents the use of the wheelchair in the room, and on the other hand, the lack of stability of the wheelchair, either forward or overcoming obstacles. This is because there is a risk of falling backwards.

  The present invention ameliorates these disadvantages by proposing a small electric wheelchair that can get over obstacles up to a height of 20 cm at any forward pitch angle without risk of falling, thus In particular, it makes operation easier for users who do not care about small obstacles.

  Another advantage of this wheelchair is that it allows it to move not only in grass, gravel and pebbles in the country, but also in snow and sand.

  Other advantages will become apparent from the description below.

For this purpose, the wheelchair is equipped with an obstacle transit device consisting of:
A chassis connected to n (n ≧ 3) wheels on each lateral side;
A drive means suitable for rotating the wheel;

  On each lateral side of the chassis, there is a mechanical device that includes n-1 connected arms, and n wheels are distributed on the connected arms. N-2 middle wheels and one rear wheel. A mechanical device with a connecting arm allows each wheel to rotate relative to the axis of its respective adjacent wheel.

  In other words, this device has the following features: The distance between two adjacent wheels is always unchanged to avoid any collisions between adjacent wheels. The wheels can move up independently of each other when encountering an obstacle. Specifically, when a wheelchair faces a sidewalk, the two front wheels first go over the sidewalk, while the other wheels remain in contact with the ground. The next two wheels then face the sidewalk and get over the sidewalk, but the other wheels remain in contact with the ground, and so on. Eventually, the two rear wheels will cross the sidewalk, but the front wheels remain on the ground. Constantly, the wheelchair has three or more leverage points to define a plane that provides stability to the wheelchair.

  According to the present invention, the arms are connected two by two around a common axis corresponding to the rotation axis of the middle wheel.

  The drive means located under the wheelchair seat is connected to one of the connecting arms of the mechanical device by a drive shaft. This drive shaft guides the wheel to rotation via a transmission means arranged between the drive shaft and the other shaft of the wheel.

  Preferably, the drive means consists of at least two motors, which are arranged on either side of the vertical transverse central transverse plane under the wheelchair. One of the motors supplies power to the left side wheel and the other motor supplies power to the right side wheel. As described above, each motor is connected on each side to one of the connected arms of the mechanical device by a drive shaft.

  According to another possibility, the drive means may be directly mounted on the wheel axle or may also be incorporated directly into the wheel.

  Power is supplied to the left side wheel independently of the right side wheel, thereby allowing the wheelchair itself to rotate 360 ° C. This feature provides a great advantage for wheelchair users because movement is greatly facilitated. For example, there is no longer a need for a back distance or minimum turning radius sufficient to make a U-turn. In general, the area occupied by the wheelchair during rotation does not exceed the outside dimensions of the wheelchair. This wheelchair is thus easier to use, especially for users who suffer from cognitive impairments and have manual electric controls within reach.

  According to one possibility, the wheelchair chassis connects to each connected armed mechanical device via two shafts, but one of the shafts can be used when these arms are not aligned in a horizontal plane. Suitable for compensating for the change in distance between the two shafts. That is, as the obstacles are crossed, the wheels do not line up in a row, where the connecting arms rotate so as to form an angle that brings the two shafts closer together. However, the chassis has fixed dimensions and is connected to these two shafts. Therefore, to avoid any deformation and further crushing of the chassis, it can compensate for the change in the inter-axis distance of the shafts securing the connecting arm to the inter-axis distance securing these same shafts to the chassis when crossing obstacles. Is indispensable.

  According to a first variant, this condition can be met by a crankshaft type shaft, which consists of two cylindrical pieces that are offset from each other. This offset compensates for the change in distance between the two shafts when the wheels are not in line.

  According to a second variant, the crankshaft type shaft can consist of a first shaft piece connected to the connecting arm and a second shaft piece connected to the chassis, the two shaft pieces being between Are connected by a connecting rod.

  According to a third variant, this condition can be met by a shaft that slides in a horizontal plane between two fasteners, the two fasteners being the maximum and minimum allowed between the two shafts. Defines the distance. This slide shaft makes it possible to change the distance between the two shafts at the connecting arm or at the chassis. For example, the slide shaft could be fitted in a horizontal split prepared for this in the connecting arm or in a horizontal split prepared for this in the chassis.

  As mentioned above, one of the main advantages of the present invention is its stability. Its stability is increased by a forward and / or rearward fall prevention device.

  That is, when moving downhill, the wheelchair tends to tilt forward, thereby removing weight from behind. At that time, it is appropriate to prevent the rear wheel from lifting up alone with respect to the wheel placed in front of the rear wheel. Without this fall prevention device, the chassis may fall forward while lifting the rear wheel, which can cause a dangerous situation for the user. The situation is the same when going up the hill, and there is a risk that the front wheels will be lifted.

  To this end, the forward and / or rearward fall prevention device according to the present invention includes means for stopping the rotation of at least one connecting arm when the chassis falls forward or backward on each lateral side of the vehicle. .

  More precisely, said means for stopping the rotation of the connecting arm when the chassis falls forward or backward consists of one pawl which respectively stops the rotation of the rear arm and the front arm, the pawl being a double pawl. To the arm, and the double linkage converts the change in distance between the chassis and the connecting arm into a pawl movement, so that one of the pawl ends is The rotation is stopped in cooperation with the notched edge of the stop means.

  In practice, each of the two linkages consists of one knuckle joint, but the knuckle joint's pawl's distal secondary connecting rod is guided by the front arm or the rear arm, respectively, and the knuckle joint's The proximal secondary connecting rod is connected to both ends of the secondary connecting rod having a journal around which the pawl rotates, and one end of the pawl is connected to the chassis, and one of the sub connecting rods of each knuckle joint is also connected to the chassis. Connected.

  In addition to preventing overturning, the obstacle transit device is improved by a ride assist device at the rear of the vehicle. This additional auxiliary device has an anti-tip caster placed on the rear of the vehicle on each lateral side of the vehicle, which is fixed to one end of a rod connected to the chassis and the secondary connecting rod. The secondary connecting rod connects the chassis to the braking means. This secondary connecting rod is connected to the knuckle joint by rotation, but the distal secondary connecting rod of the braking means of the knuckle joint is on the one hand at the same height as the central axis of the rear arm and on the other hand. Connected to the rear arm at its central axis.

  Specifically, this overpass assistance device reflects the rotation of the connecting arm in the position of the caster, but the caster is held in a raised position with respect to the ground when traveling on a flat ground. When overcoming an obstacle on the rear wheel, it is pressed against the ground.

  Advantageously, the braking means comprises a jack type or a spring-type shock absorber along the axis of a connecting rod of variable length, said connecting rod being pivotally attached to the chassis and having casters It is suitable for being pushed elastically when pressed against the ground. These braking means aim to absorb part of the weight supported by the rear wheel when the rear wheel gets over the obstacle. The jack / shock absorber is loosened when traveling on flat ground and pushed in when overcoming obstacles.

  According to the present invention, a wheelchair equipped with an obstacle transit device does not exceed the size of a standard electric wheelchair that is superior in room, that is, adapted to passage of a door, transportation, or the like.

  According to a possible configuration, the at least one wheel may be provided with a thin plate that is elastic, preferably at the front or rear, towards the axis of rotation of the wheel. This configuration makes it possible to avoid premature wear of the tire that would otherwise result from scraping the tire, in particular the rotation of the wheelchair itself. This type of wheel has the added advantage that the tall sheet can act like a knurled sole for easier running in the snow and sand.

  According to another possible configuration, the at least one series of wheels may comprise omnidirectional wheels, preferably in the front or rear. This configuration makes it possible to avoid any premature wear on the tire when the wheelchair itself rotates, which further facilitates the rotation.

  In order to make the climbing of obstacles more flexible and easier, an additional wheel, for example with spike-type uneven tires, is retracted sideways between two adjacent wheels with respect to an already existing wheel It can be added in the state. These additional wheels in particular allow the wheelchair to go up the stairs.

  In order to minimize the stress that can be applied to the wheel's attachment surface to irregular ground and the stress that can be applied when passing through obstacles, at least one wheel has a supple rotating hub, i.e. its It can be attached to a hub with a spring action at the axis of rotation and / or to a freewheel hub, i.e. a hub in which the wheel is guided in only one direction.

  As another option, the wheelchair may be equipped with a seat that moves up and down with a horizontal sensor so that the seat always remains in a horizontal position no matter where the wheelchair is. This up and down seat significantly increases passenger comfort.

  According to the last advantage, this wheelchair with an obstacle transit device can be disassembled.

The present invention will now be described in more detail according to possible forms and with reference to the accompanying drawings as follows:
FIG. 1 is a very simplified side view showing a wheelchair on flat ground;
FIG. 2 shows a partial view of a wheelchair, with section AA;
-Fig. 3 shows an enlarged view of the mechanical device with a connecting arm, on the chassis side, without a protective cover;
-Fig. 4 shows an enlarged view of a mechanical device with a connecting arm, on the chassis side, with a protective cover;
FIG. 5 is a perspective view of a mechanical device with a connecting arm, with wheels and two shafts leading to the chassis visible;
FIG. 6 shows a possible form of the transmission means;
-Figure 7a schematically shows a wheelchair with an anti-tip device;
-Figures 7b to 7e show the risk of falling forward and backward;
-Figures 8a and 8b show a wheelchair with an obstacle transit assistance device.

  Referring to FIG. 1, the obstacle transit device of the present invention includes a chassis (2) on which a wheelchair (1) is fixed, and three wheels (3a, 3a) arranged in a row on each lateral side of the chassis (2). 3b, 3c) and a mechanical device comprising two connecting arms (7a, 7b) in which three wheels (3a, 3b, 3c) are aligned and arranged.

  The front wheel (3a) is positioned at the front of the first connecting arm (7a), the middle wheel (3b) is positioned at the joint between the two arms (7a, 7b), and the rear wheel ( 3c) is positioned at the rear of the second connecting arm (7b). The two arms (7a, 7b) are thus connected around a common axis corresponding to the axis (6) of the middle wheel (3b).

  The joint between the two arms (7a, 7b) is thus a pivot connection. The pivot connection allows the front wheel (3a) and the rear wheel (3c) to rotate about the axis (6) of the middle wheel (3b). Thus, the three wheels (3a, 3b, 3c) can rise and fall independently of each other when overcoming obstacles.

  FIG. 2 reveals a part of the electrical system located under the base of the wheelchair (1). There is a battery pack (4), which is connected to the front of the machine with connecting arms (7a, 7b) on each lateral side via a motor (5) and a drive shaft (8). , And coupled to the rear of the machine by a crankshaft type shaft (12) mounted offset. The battery pack (4) itself is fixed to the wheelchair chassis (2). The shaft (12) of the crankshaft is disassembled into two shafts (12a, 12b). The rotational axes of the two shafts are slightly shifted from each other, and the first shaft (12a) is connected to the battery pack (4). ), While the second shaft (12b) is linked to the connecting arm (7b).

  As shown in FIG. 6, the drive shaft (8) guides three aligned wheels (3a, 3b, 3c) to rotation via three transmission chains or transmission belts (9a, 9b, 9c). The three transmission chains or transmission belts are respectively arranged between the drive shaft (8) and the front wheel shaft (10), between the drive shaft (8) and the middle wheel shaft (6), and in the middle wheel It is arranged between the shaft (6) and the rear wheel shaft (11). The driving means transmits the rotational movement to the wheels (3a, 3b, 3c) separately for the left side wheel and the right side wheel. Thanks to the manual electric control device, the user could decide to rotate the left wheel in the opposite direction to the right wheel, for example to control the rotation of the wheelchair itself. Users can also skillfully cut long curves by controlling the motor to rotate the right wheel faster than the left wheel, or by controlling the motor to rotate the left wheel faster than the right wheel. It will be possible.

  3 to 5 it is possible to observe in more detail the possible forms of the mechanical device with the connecting arms (7a, 7b).

  This mechanical device consists of two arms (7a, 7b) connected by a pivot connection. Each connecting arm (7a, 7b) corresponds to an elongated workpiece, which has a portion (13) with reduced thickness at the central joint and is distributed to the center and to each end. Contains three holes (14a, 14b, 14c). These holes are suitable for receiving bearings into which a drive shaft (8), a crankshaft type shaft (12) or a wheel shaft (10 or 6 or 11) is inserted. Is done. The connecting arms (7a, 7b) overlap at the part (13) so that the front arm (7a) and the rear arm (7b) form a mechanical device of constant thickness. Without exceeding this thickness, the protrusion (22) is prepared on the wheel side arm surface to guide the passage of the transmission chain (9a, 9b, 9c).

  FIG. 7a shows a fall prevention device. The fall prevention device is installed on each side surface of the wheelchair (1).

  This device has pawls (16) for stopping the rotation of the front arm (7a) and the rear arm (7b), the pawls being connected to the front arm and the rear arm by a double linkage. Connected. This pawl (16) cooperates with a notched edge (17) at the rear of the front arm (7a). The pawl (16) consists of a straight-looking secondary connecting rod, which is connected to the chassis (2) by a shaft (35) and directed towards the notched edge (17). Ending at (18), the shape of the tip (18) is prepared to enter one of the indentations.

  Each linkage consists of a knuckle joint, which is a L-shaped secondary connecting rod (19, 22) connected to the chassis (2) at the shaft (36, 37) and a straight secondary connecting rod. (20, 23). The distal minor connecting rods (19, 23) of the pawl (16) are connected to the central axis (14b) of the front arm (7a) and the rear arm (7b), respectively. The proximal minor connecting rod (20, 22) of the pawl (16) is connected to both ends (38, 39) of the straight connecting rod (21), but the pawl (16) rotates around the connecting rod. Has a journal (24) to be used.

  The fasteners (25, 26) belonging to the chassis (2) restrain the upward movement of the distal connecting rod (19, 23).

  As shown in FIG. 7c, when the wheelchair (1) tilts forward, the rear part of the chassis (2) is lifted, and then the clasp (26) is moved away from the secondary connecting rod (23) and from the rear arm (7b). Move away. This change in distance between the chassis (2) and the rear arm (7b) leads to the up and down movement of the knuckle joint that rotates the connecting rod (21) and then the pawl (16), and the tip (18) enters the notch. And stops any rotation of the connecting arm (7b) with respect to the shaft (14b) for holding the connecting arm in the chassis (2).

  That is, when the rear part of the chassis (2) is lifted, the rear part of the chassis tends to pull the rear arm (7b) and the rear wheel (3c) upward. However, the rear arm and the rear wheel tend to apply force toward the ground due to their weight.

  Should the rear wheel (3c) move away from the ground, the linkage stops the rotation of the connecting arms (7a, 7b) at the axis (14c) of the central wheel (3c). Prevent any extra movement of the wheel (3c) and any risk of falling of the wheelchair (1).

  The operation is similar when the wheelchair (1) tends to tilt backward and lift the front wheel (3a), as shown in FIG. 7e.

  Figures 7b and 7d show a wheelchair without an anti-tip device. In this case, the rear wheel or front wheel is lifted completely, causing the wheelchair to fall.

  8a and 8b show a wheelchair with an obstacle transit assistance device.

  In FIG. 8a, the device is in the initial position when the wheelchair is traveling on flat ground. In FIG. 8b, the assist device is active and the rear wheel of the wheelchair is about to get over the obstacle.

  This overpass assistance device is installed on each lateral side of the wheelchair (1).

  Specifically, this overpass assistance device has a fall-preventing caster (27), which is placed at the rear of the wheelchair (1) and attached to the first end of the rod (28). It is fixed and its second end (34) is connected to the chassis (2). The elbow-shaped secondary connecting rod (29) connects the rod (28) to the spring-type shock absorber (30) along the axis connecting to the chassis (2) and the knuckle joint by rotation simultaneously. The knuckle joint is connected to the rear arm (7b) while being connected to the chassis (2) at its distal end (33) of the elbow-shaped secondary connecting rod (29). More precisely, the knuckle joint consists of two straight secondary connecting rods (31, 32) connected to each other at the central axis (14b) of the rear arm (7b).

  When the wheelchair travels on a flat ground surface, as shown in FIG. 8, the fall-preventing caster is held at a position higher than the ground, and the shock absorber (30) is decompressed.

  While overcoming obstacles, the wheelchair (1) inevitably tilts back and the caster (27) then comes into contact with the ground. At the same time, the arms (7a, 7b) are no longer aligned and angled, and the position of the central axis (14b) of the rear arm (7b) relative to the chassis (2) changes. This change in position appears as rotation of the secondary connecting rod (32) about the end (33). This rotation of the knuckle joint leads to the elbow-shaped secondary connecting rod (29) approaching the chassis (2), a decrease in this distance being compensated by compression of the shock absorber (30), The shock absorber moves a part of the weight hung on the rear wheel (3c) to a caster (27) pressed against the ground, thus facilitating overcoming an obstacle.

DESCRIPTION OF SYMBOLS 1 Wheelchair 2 Chassis 3 Wheel 6 Shaft 7 Connecting arm 19 Sub connecting rod 20 Sub connecting rod 21 Connecting rod 22 Sub connecting rod 23 Sub connecting rod 27 Fall prevention caster

Claims (18)

Obstacle transit device for motorized vehicles:
A chassis connected to n (n ≧ 3) wheels on each lateral side;
-Comprising driving means suitable for rotating the wheel,
There is one mechanical device on each lateral side of the chassis, the mechanical device having n-1 arms connected two by two around a common rotation axis, and n wheels on the connecting arm Are distributed, each with one front wheel, n-2 middle wheels, and one rear wheel, which allows each wheel to rotate relative to the axis of its respective adjacent wheel. An obstacle transit device for motorized vehicles, characterized in that   2. The obstacle transit device according to claim 1, wherein the driving means is connected to one of the connecting arms of the mechanical device by a driving shaft.   The obstacle transit device according to claim 2, wherein the drive shaft guides the wheel to rotation through a transmission means arranged between the drive shaft and another shaft of the wheel.   The obstacle according to any one of claims 1 to 3, wherein the left side wheel is supplied with electric power by driving means different from the driving means for supplying electric power to the right side wheel. Passover equipment.   The chassis is connected to each connected armed mechanical device via two shafts that are mounted so that it can rotate freely, and when the arms are not aligned, one of the shafts is the distance between these two shafts. The obstacle transit device according to any one of claims 1 to 4, wherein the obstacle transit device is suitable for compensating for a change.   The obstacle transit device according to claim 5, wherein one of the shafts may be a crankshaft type shaft.   The crankshaft type shaft can consist of a first shaft piece connected to the connecting arm and a second shaft piece connected to the chassis, the two shaft pieces being connected by a connecting rod The obstacle transit device according to claim 6.   The obstacle transit device according to claim 5, wherein one of the shafts may be a shaft that slides in a horizontal plane. A forward and / or rearward fall prevention device is provided, and the fall prevention device includes means on each lateral side of the vehicle for stopping rotation of at least one connecting arm when the chassis falls forward or backward. The obstacle transit device according to any one of claims 1 to 8, characterized in that the obstacle transit device.   The means for stopping the rotation of the connecting arm when the chassis falls forward or backward consists of one pawl that respectively stops the rotation of the rear arm and the front arm, and the pawl is connected to the rear arm by a double linkage. And the double linkage converts the change in distance between the chassis and the connecting arm into a pawl movement, so that one of the pawl ends is said pawl 10. Obstacle transit device according to claim 9, characterized in that the rotation is stopped in cooperation with a notched edge of the means. Each of the two linkages comprises a knuckle joint, and the pawl distal secondary connecting rod of the knuckle joint is guided by the front arm or the rear arm, respectively, and the pawl proximal secondary connecting rod of the knuckle joint Is connected to both ends of a secondary connecting rod having a journal around which pawls rotate, one end of the pawl is connected to the chassis, and one of the secondary connecting rods of each knuckle joint is also connected to the chassis. The obstacle transit device according to claim 10, characterized in that it is characterized in that:   A rod provided with an overriding assist device at the rear of the vehicle, the overriding device having an anti-tip caster placed at the rear of the vehicle on each lateral side of the vehicle, the caster being connected to the chassis and the sub-connecting rod The secondary connecting rod is connected to the braking means, and the secondary connecting rod is connected to the knuckle joint by rotation, and the distal secondary connecting rod of the braking means of the knuckle joint is connected to the braking means. On the one hand, it is connected to the chassis at the same height as the central axis of the rear arm, and on the other hand, it is connected to the rear arm at the central axis, and this transit assistance device reflects the rotation of the connecting arm in the position of the caster. This caster is held in a raised position when traveling on flat ground, and is pushed against the ground when overcoming obstacles in the rear wheels. The symptom, obstacle Norikoshi Device according to one of claims 1 to 11.   When the braking means is a jack-type or spring-type shock absorber along the axis, it is composed of a connecting rod of variable length, which is attached to the chassis so that it can pivot, and the caster is pressed against the ground The obstacle transit device according to claim 12, wherein the obstacle transit device is suitable for being pushed elastically.   The obstacle transit device according to any one of claims 1 to 13, characterized in that at least one continuous wheel can be provided with a thin plate having high elasticity toward the rotation axis of the wheel.   15. Obstacle transit device according to any one of the preceding claims, characterized in that at least a series of wheels can comprise omnidirectional wheels.   16. An obstacle according to any one of the preceding claims, characterized in that an additional wheel is added between two adjacent wheels, with the side retracted against the already existing wheel. Cargo equipment.   17. Obstacle transit device according to any one of the preceding claims, characterized in that at least one wheel can be mounted on a rotating flexible hub and / or a freewheel hub.   The motorized vehicle comprising the obstacle transit device according to claim 1, further comprising a user seat that is tilted in any situation by a horizontal sensor to position the user seat in a horizontal position.

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